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<a href="#nested-classes">Classes</a> &#124;
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<a href="class_motion_model_diff_drive-members.html">List of all members</a>  </div>
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<div class="title">MotionModelDiffDrive Class Reference</div>  </div>
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<p><a class="el" href="class_motion_model_diff_drive_1_1_trajectory.html" title="Class representing a trajectory.">Trajectory</a> generation with motion model of differential drive robots.  
 <a href="class_motion_model_diff_drive.html#details">More...</a></p>

<p><code>#include &lt;<a class="el" href="motion__model__diff__drive_8h_source.html">motion_model_diff_drive.h</a>&gt;</code></p>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="nested-classes"></a>
Classes</h2></td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_motion_model_diff_drive_1_1_angular_velocity_params.html">AngularVelocityParams</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Class representing yawrate profile for trajectories.  <a href="class_motion_model_diff_drive_1_1_angular_velocity_params.html#details">More...</a><br /></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_motion_model_diff_drive_1_1_control_params.html">ControlParams</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Class containing <a class="el" href="class_motion_model_diff_drive_1_1_velocity_params.html" title="Class representing velocity profile for trajectories.">VelocityParams</a> and <a class="el" href="class_motion_model_diff_drive_1_1_angular_velocity_params.html" title="Class representing yawrate profile for trajectories.">AngularVelocityParams</a>.  <a href="class_motion_model_diff_drive_1_1_control_params.html#details">More...</a><br /></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_motion_model_diff_drive_1_1_state.html">State</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Class representing robot state.  <a href="class_motion_model_diff_drive_1_1_state.html#details">More...</a><br /></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_motion_model_diff_drive_1_1_trajectory.html">Trajectory</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Class representing a trajectory.  <a href="class_motion_model_diff_drive_1_1_trajectory.html#details">More...</a><br /></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_motion_model_diff_drive_1_1_velocity_params.html">VelocityParams</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Class representing velocity profile for trajectories.  <a href="class_motion_model_diff_drive_1_1_velocity_params.html#details">More...</a><br /></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:aeebe85b89f207ba2c760feba0206e8f0"><td class="memItemLeft" align="right" valign="top"><a id="aeebe85b89f207ba2c760feba0206e8f0"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_motion_model_diff_drive.html#aeebe85b89f207ba2c760feba0206e8f0">MotionModelDiffDrive</a> (void)</td></tr>
<tr class="memdesc:aeebe85b89f207ba2c760feba0206e8f0"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor. <br /></td></tr>
<tr class="separator:aeebe85b89f207ba2c760feba0206e8f0"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a47385c578af93379674f2cbd83a55bef"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_motion_model_diff_drive.html#a47385c578af93379674f2cbd83a55bef">set_param</a> (const double, const double, const double, const double, const double, const double)</td></tr>
<tr class="memdesc:a47385c578af93379674f2cbd83a55bef"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set motion parameters.  <a href="class_motion_model_diff_drive.html#a47385c578af93379674f2cbd83a55bef">More...</a><br /></td></tr>
<tr class="separator:a47385c578af93379674f2cbd83a55bef"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1d38228bcabfd331bffdebdd14bdb388"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_motion_model_diff_drive.html#a1d38228bcabfd331bffdebdd14bdb388">generate_trajectory</a> (const double, const <a class="el" href="class_motion_model_diff_drive_1_1_control_params.html">ControlParams</a> &amp;, <a class="el" href="class_motion_model_diff_drive_1_1_trajectory.html">Trajectory</a> &amp;)</td></tr>
<tr class="memdesc:a1d38228bcabfd331bffdebdd14bdb388"><td class="mdescLeft">&#160;</td><td class="mdescRight">Generate a trajectory from given control parameters.  <a href="class_motion_model_diff_drive.html#a1d38228bcabfd331bffdebdd14bdb388">More...</a><br /></td></tr>
<tr class="separator:a1d38228bcabfd331bffdebdd14bdb388"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3721fec9820df49b1d9c1599f7cae377"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_motion_model_diff_drive.html#a3721fec9820df49b1d9c1599f7cae377">generate_last_state</a> (const double, const double, const <a class="el" href="class_motion_model_diff_drive_1_1_velocity_params.html">VelocityParams</a> &amp;, const double, const double, const double, Eigen::Vector3d &amp;)</td></tr>
<tr class="memdesc:a3721fec9820df49b1d9c1599f7cae377"><td class="mdescLeft">&#160;</td><td class="mdescRight">Generate a state at the end of a trajectory from given control parameters.  <a href="class_motion_model_diff_drive.html#a3721fec9820df49b1d9c1599f7cae377">More...</a><br /></td></tr>
<tr class="separator:a3721fec9820df49b1d9c1599f7cae377"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9c5284e9c215500a65adc3622349d6b4"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_motion_model_diff_drive.html#a9c5284e9c215500a65adc3622349d6b4">make_velocity_profile</a> (const double, const <a class="el" href="class_motion_model_diff_drive_1_1_velocity_params.html">VelocityParams</a> &amp;)</td></tr>
<tr class="memdesc:a9c5284e9c215500a65adc3622349d6b4"><td class="mdescLeft">&#160;</td><td class="mdescRight">Make veloicity profile from given velocity parameter.  <a href="class_motion_model_diff_drive.html#a9c5284e9c215500a65adc3622349d6b4">More...</a><br /></td></tr>
<tr class="separator:a9c5284e9c215500a65adc3622349d6b4"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a0d5c5c4f44a426cafc38a3dd320be7a8"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_motion_model_diff_drive.html#a0d5c5c4f44a426cafc38a3dd320be7a8">estimate_driving_time</a> (const <a class="el" href="class_motion_model_diff_drive_1_1_control_params.html">ControlParams</a> &amp;)</td></tr>
<tr class="memdesc:a0d5c5c4f44a426cafc38a3dd320be7a8"><td class="mdescLeft">&#160;</td><td class="mdescRight">Estimate driveing time from given control parameter.  <a href="class_motion_model_diff_drive.html#a0d5c5c4f44a426cafc38a3dd320be7a8">More...</a><br /></td></tr>
<tr class="separator:a0d5c5c4f44a426cafc38a3dd320be7a8"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a45fc33f86f5ae06596749fdda60065ac"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_motion_model_diff_drive.html#a45fc33f86f5ae06596749fdda60065ac">update</a> (const <a class="el" href="class_motion_model_diff_drive_1_1_state.html">State</a> &amp;, const double, const double, const double, <a class="el" href="class_motion_model_diff_drive_1_1_state.html">State</a> &amp;)</td></tr>
<tr class="memdesc:a45fc33f86f5ae06596749fdda60065ac"><td class="mdescLeft">&#160;</td><td class="mdescRight">Update state.  <a href="class_motion_model_diff_drive.html#a45fc33f86f5ae06596749fdda60065ac">More...</a><br /></td></tr>
<tr class="separator:a45fc33f86f5ae06596749fdda60065ac"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab0bbacfda45c549888492ff6b998ffab"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_motion_model_diff_drive.html#ab0bbacfda45c549888492ff6b998ffab">calculate_quadratic_function</a> (const double, const Eigen::Vector3d &amp;)</td></tr>
<tr class="memdesc:ab0bbacfda45c549888492ff6b998ffab"><td class="mdescLeft">&#160;</td><td class="mdescRight">Calculate ax^2 + bx + c.  <a href="class_motion_model_diff_drive.html#ab0bbacfda45c549888492ff6b998ffab">More...</a><br /></td></tr>
<tr class="separator:ab0bbacfda45c549888492ff6b998ffab"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac79658bdde639a21a5b2c56b6727f540"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_motion_model_diff_drive.html#ac79658bdde639a21a5b2c56b6727f540">calculate_cubic_function</a> (const double, const Eigen::Vector4d &amp;)</td></tr>
<tr class="memdesc:ac79658bdde639a21a5b2c56b6727f540"><td class="mdescLeft">&#160;</td><td class="mdescRight">Calculate ax^3 + bx^2 + cx + d.  <a href="class_motion_model_diff_drive.html#ac79658bdde639a21a5b2c56b6727f540">More...</a><br /></td></tr>
<tr class="separator:ac79658bdde639a21a5b2c56b6727f540"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:acc59cfed44ebc303aec321654a30c751"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_motion_model_diff_drive.html#acc59cfed44ebc303aec321654a30c751">response_to_control_inputs</a> (const <a class="el" href="class_motion_model_diff_drive_1_1_state.html">State</a> &amp;, const double, <a class="el" href="class_motion_model_diff_drive_1_1_state.html">State</a> &amp;)</td></tr>
<tr class="memdesc:acc59cfed44ebc303aec321654a30c751"><td class="mdescLeft">&#160;</td><td class="mdescRight">Limit motion.  <a href="class_motion_model_diff_drive.html#acc59cfed44ebc303aec321654a30c751">More...</a><br /></td></tr>
<tr class="separator:acc59cfed44ebc303aec321654a30c751"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa8b738c94b8a01acc068dd45e79b3cd9"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_motion_model_diff_drive.html#aa8b738c94b8a01acc068dd45e79b3cd9">control_speed</a> (const <a class="el" href="class_motion_model_diff_drive_1_1_state.html">State</a> &amp;state, <a class="el" href="class_motion_model_diff_drive_1_1_state.html">State</a> &amp;_state)</td></tr>
<tr class="memdesc:aa8b738c94b8a01acc068dd45e79b3cd9"><td class="mdescLeft">&#160;</td><td class="mdescRight">Modify speed.  <a href="class_motion_model_diff_drive.html#aa8b738c94b8a01acc068dd45e79b3cd9">More...</a><br /></td></tr>
<tr class="separator:aa8b738c94b8a01acc068dd45e79b3cd9"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p><a class="el" href="class_motion_model_diff_drive_1_1_trajectory.html" title="Class representing a trajectory.">Trajectory</a> generation with motion model of differential drive robots. </p>
</div><h2 class="groupheader">Member Function Documentation</h2>
<a id="ac79658bdde639a21a5b2c56b6727f540"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ac79658bdde639a21a5b2c56b6727f540">&#9670;&nbsp;</a></span>calculate_cubic_function()</h2>

<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">double MotionModelDiffDrive::calculate_cubic_function </td>
          <td>(</td>
          <td class="paramtype">const double&#160;</td>
          <td class="paramname"><em>x</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const Eigen::Vector4d &amp;&#160;</td>
          <td class="paramname"><em>coeff</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Calculate ax^3 + bx^2 + cx + d. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">x</td><td></td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">coeff</td><td>Coefficients (a, b, c, d) </td></tr>
  </table>
  </dd>
</dl>
<dl class="retval"><dt>Return values</dt><dd>
  <table class="retval">
    <tr><td class="paramname">output</td><td>ax^3 + bx^2 + cx + d </td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
<a id="ab0bbacfda45c549888492ff6b998ffab"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ab0bbacfda45c549888492ff6b998ffab">&#9670;&nbsp;</a></span>calculate_quadratic_function()</h2>

<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">double MotionModelDiffDrive::calculate_quadratic_function </td>
          <td>(</td>
          <td class="paramtype">const double&#160;</td>
          <td class="paramname"><em>x</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const Eigen::Vector3d &amp;&#160;</td>
          <td class="paramname"><em>coeff</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Calculate ax^2 + bx + c. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">x</td><td></td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">coeff</td><td>Coefficients (a, b, c) </td></tr>
  </table>
  </dd>
</dl>
<dl class="retval"><dt>Return values</dt><dd>
  <table class="retval">
    <tr><td class="paramname">output</td><td>ax^2 + bx + c </td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
<a id="aa8b738c94b8a01acc068dd45e79b3cd9"></a>
<h2 class="memtitle"><span class="permalink"><a href="#aa8b738c94b8a01acc068dd45e79b3cd9">&#9670;&nbsp;</a></span>control_speed()</h2>

<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">void MotionModelDiffDrive::control_speed </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="class_motion_model_diff_drive_1_1_state.html">State</a> &amp;&#160;</td>
          <td class="paramname"><em>state</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="class_motion_model_diff_drive_1_1_state.html">State</a> &amp;&#160;</td>
          <td class="paramname"><em>_state</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Modify speed. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">state</td><td>Current state </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">output</td><td>Next state </td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
<a id="a0d5c5c4f44a426cafc38a3dd320be7a8"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a0d5c5c4f44a426cafc38a3dd320be7a8">&#9670;&nbsp;</a></span>estimate_driving_time()</h2>

<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">double MotionModelDiffDrive::estimate_driving_time </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="class_motion_model_diff_drive_1_1_control_params.html">ControlParams</a> &amp;&#160;</td>
          <td class="paramname"><em>control</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Estimate driveing time from given control parameter. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">control</td><td></td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
<a id="a3721fec9820df49b1d9c1599f7cae377"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a3721fec9820df49b1d9c1599f7cae377">&#9670;&nbsp;</a></span>generate_last_state()</h2>

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          <td class="memname">void MotionModelDiffDrive::generate_last_state </td>
          <td>(</td>
          <td class="paramtype">const double&#160;</td>
          <td class="paramname"><em>dt</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const double&#160;</td>
          <td class="paramname"><em>trajectory_length</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="class_motion_model_diff_drive_1_1_velocity_params.html">VelocityParams</a> &amp;&#160;</td>
          <td class="paramname"><em>_vel</em>, </td>
        </tr>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const double&#160;</td>
          <td class="paramname"><em>k0</em>, </td>
        </tr>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const double&#160;</td>
          <td class="paramname"><em>km</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const double&#160;</td>
          <td class="paramname"><em>kf</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">Eigen::Vector3d &amp;&#160;</td>
          <td class="paramname"><em>output</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
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<p>Generate a state at the end of a trajectory from given control parameters. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">dt</td><td>Time interval between each pose in the trajectory [s] </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">trajectory_length</td><td>Desired length of trajecotry [m] </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">_vel</td><td>Velocity profile for the trajectory </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">k0,km,kf</td><td>Angular velocity in the trajectory </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">output</td><td>The last state of generated trajectory </td></tr>
  </table>
  </dd>
</dl>

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<h2 class="memtitle"><span class="permalink"><a href="#a1d38228bcabfd331bffdebdd14bdb388">&#9670;&nbsp;</a></span>generate_trajectory()</h2>

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          <td class="memname">void MotionModelDiffDrive::generate_trajectory </td>
          <td>(</td>
          <td class="paramtype">const double&#160;</td>
          <td class="paramname"><em>dt</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="class_motion_model_diff_drive_1_1_control_params.html">ControlParams</a> &amp;&#160;</td>
          <td class="paramname"><em>control_param</em>, </td>
        </tr>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="class_motion_model_diff_drive_1_1_trajectory.html">Trajectory</a> &amp;&#160;</td>
          <td class="paramname"><em>trajectory</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
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<p>Generate a trajectory from given control parameters. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">dt</td><td>Time interval between each pose in the trajectory [s] </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">control_param</td><td>Control parameters </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">trajectory</td><td>Generated trajectory </td></tr>
  </table>
  </dd>
</dl>

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</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a9c5284e9c215500a65adc3622349d6b4">&#9670;&nbsp;</a></span>make_velocity_profile()</h2>

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          <td class="memname">void MotionModelDiffDrive::make_velocity_profile </td>
          <td>(</td>
          <td class="paramtype">const double&#160;</td>
          <td class="paramname"><em>dt</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="class_motion_model_diff_drive_1_1_velocity_params.html">VelocityParams</a> &amp;&#160;</td>
          <td class="paramname"><em>v_param</em>&#160;</td>
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          <td></td>
          <td>)</td>
          <td></td><td></td>
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<p>Make veloicity profile from given velocity parameter. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">dt</td><td>Time interval between each pose in the trajectory [s] </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">v_param</td><td>Velocity parameter </td></tr>
  </table>
  </dd>
</dl>

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<h2 class="memtitle"><span class="permalink"><a href="#acc59cfed44ebc303aec321654a30c751">&#9670;&nbsp;</a></span>response_to_control_inputs()</h2>

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          <td class="memname">void MotionModelDiffDrive::response_to_control_inputs </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="class_motion_model_diff_drive_1_1_state.html">State</a> &amp;&#160;</td>
          <td class="paramname"><em>state</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const double&#160;</td>
          <td class="paramname"><em>dt</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="class_motion_model_diff_drive_1_1_state.html">State</a> &amp;&#160;</td>
          <td class="paramname"><em>output</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
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<p>Limit motion. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">state</td><td>Current state </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">dt</td><td>[s] </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">output</td><td>Next state </td></tr>
  </table>
  </dd>
</dl>

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<h2 class="memtitle"><span class="permalink"><a href="#a47385c578af93379674f2cbd83a55bef">&#9670;&nbsp;</a></span>set_param()</h2>

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          <td class="memname">void MotionModelDiffDrive::set_param </td>
          <td>(</td>
          <td class="paramtype">const double&#160;</td>
          <td class="paramname"><em>max_yawrate</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const double&#160;</td>
          <td class="paramname"><em>max_d_yawrate</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const double&#160;</td>
          <td class="paramname"><em>max_acceleration</em>, </td>
        </tr>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const double&#160;</td>
          <td class="paramname"><em>max_wheel_angular_velocity</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const double&#160;</td>
          <td class="paramname"><em>wheel_radius</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const double&#160;</td>
          <td class="paramname"><em>tread</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
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<p>Set motion parameters. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">max_yawrate</td><td>[rad/s] </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">max_d_yawrate</td><td>[rad/ss] </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">max_acceleration</td><td>[m/ss] </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">max_wheel_angular_velocity</td><td>[rad/s] </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">wheel_radius</td><td>[m] </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">tread</td><td>[m] </td></tr>
  </table>
  </dd>
</dl>

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<h2 class="memtitle"><span class="permalink"><a href="#a45fc33f86f5ae06596749fdda60065ac">&#9670;&nbsp;</a></span>update()</h2>

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          <td class="memname">void MotionModelDiffDrive::update </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="class_motion_model_diff_drive_1_1_state.html">State</a> &amp;&#160;</td>
          <td class="paramname"><em>s</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const double&#160;</td>
          <td class="paramname"><em>v</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const double&#160;</td>
          <td class="paramname"><em>omega</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const double&#160;</td>
          <td class="paramname"><em>dt</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="class_motion_model_diff_drive_1_1_state.html">State</a> &amp;&#160;</td>
          <td class="paramname"><em>output_s</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
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<p>Update state. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">s</td><td>State(t) </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">v</td><td>Velocity [m/s] </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">omega</td><td>Yawrate [rad/s] </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">dt</td><td>Step time [s] </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">output_s</td><td>Next state </td></tr>
  </table>
  </dd>
</dl>

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<hr/>The documentation for this class was generated from the following files:<ul>
<li>include/trajectory_generator/<a class="el" href="motion__model__diff__drive_8h_source.html">motion_model_diff_drive.h</a></li>
<li>src/motion_model_diff_drive.cpp</li>
</ul>
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